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In order to solve the problem of simple and low intelligence of substation security equipment, an integrated security control system based on machine vision is designed. The field visual controller is installed as the front end information acquisition center of the system hardware. The Ethernet is used to realize the integration of communication and connection of all devices, and the gate circuit is connected with the terminal electronics of the substation perimeter environment. The laser electronic fence is detected for dangerous intrusion detection, and the fence number is inspected in sequence to determine the location of the dangerous intrusion fence. Through linear quadratic regulator algorithm, the coupling relationship between the desired pose and the actual pose of the robot was decouped, and the processing results were taken as the input of the neural network to output the tracking control results of the robot's moving trajectory, complete the visual identification and positioning, and realize the automatic identification and early warning of dynamic object monitoring, fire, temperature and other dangerous factors. The experimental analysis shows that the system can accurately monitor the position and temperature of high-temperature equipment through machine vision, and has good response performance, stable security signal transmission environment, strong ability to predict and warn dangerous situations, and good robustness.